// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <stdint.h>
#include <stdio.h>
#include <strings.h>
#include <stdlib.h>
#include <string.h>

#define STX 0x02
#define ETX 0x03

using namespace std;

#include "auv_main_avr_driver/main_avr_driver.h"

main_avr_driver::main_avr_driver()
{
}


int main_avr_driver::getSensorData( uint8_t *depth, uint8_t *battery, uint8_t *killSwitch )
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x21;
    packet->flags = 0x00;
    packet->length = 0x00;
    packet->data = NULL;
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    *depth = *(uint8_t *)(packet->data + 2);
    
    *battery = *(uint8_t *)(packet->data + 3);
    
    *killSwitch = *(uint8_t *)(packet ->data + 4);
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}
/*
int main_avr_driver::setMarkerPosition( uint16_t pwmDuty )
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x22;
    packet->flags = 0x00;
    packet->length = 0x02;
    packet->data = (uint8_t *)&pwmDuty;
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int main_avr_driver::int setMarkerDropper(int position)
{
    if (position == 0 ) {
        
        return 0;
    } else if (position == 1) {
        return 0;
    } else if (position == 2) {
        return 0;
    }
    return -1;
}
*/


